from controllers.cup_state import CupState
from controllers.face_state import FaceState
from controllers.nxt_controller import NxtController
from sensors.webcam import Webcam, CupDetector, FaceDetector
from event import EventLoop
from motors.pyrobot import Create
import sys
if __name__ == "__main__":
e = EventLoop()
irobot_controller = Create()
irobot_controller.Control()
c_s = CupState(e, cam_angle=-25)
f_s = FaceState(e, irobot_controller)
cd = CupDetector(e, cam_angle=-25)
fd = FaceDetector(e)
e.register('webcam', Webcam(e, cam=1))
e.register('fd', fd, 'frame') # We can see!
# Events for face tracking and killing actions
e.register('f_s', f_s, 'cups_done')
e.register('f_s', f_s, 'face_pos')
e.register('f_s', f_s, 'face_gone')
e.register('f_s', f_s, 'no_face')
e.add_event('cups_done', None)
e.run()
#! /usr/bin/python
from sensors.webcam import Webcam, CupDetector, FaceDetector, TableDetector
from controllers.table_state import TableState
from controllers.nxt_controller import NxtController
from motors.pyrobot import Create
from event import EventLoop
import sys
if __name__ == "__main__":
e = EventLoop()
irobo = Create()
irobo.Control()
td = TableDetector(e)
ts = TableState(e, irobo)
n_c = NxtController(e)
e.register('webcam', Webcam(e, cam=1))
e.register('td', td, 'frame')
e.register('ts', ts, 'table_pos')
# Obstacle avoidance
e.register('ts', ts, 'obstacle') # Response (ts)
e.register('n_c', n_c, 'obstacle_distance') # Request
e.run()
lynx = lynx_motion.Arm()
nxt = NxtController()
irobot_controller = Create("/dev/ttyUSB1")
irobot_controller.Control()
ud = Ultrasonic(e)
c_s = CupState(e, lynx, nxt, cam_angle=-25)
f_s = FaceState(e, lynx, irobot_controller)
t_s = TableState(e, lynx, nxt, irobot_controller)
cd = CupDetector(e, cam_angle=-25)
fd = FaceDetector(e)
td = TableDetector(e)
e.register('webcam', Webcam(e, cam=1))
e.register('ultrasonic', ud)
e.register('td', td, 'frame')
# e.register('td', td)
e.register('cd', cd)
e.register('fd', fd) # We can see!
# e.register('fd', fd, 'frame') # We can see!
# Events for cup taking actions
e.register('c_s', c_s, 'cup_start')
e.register('c_s', c_s, 'cup_appeared') # Arm may align to grasp
# Events for face tracking and killing actions
e.register('f_s', f_s, 'cups_done')
e.register('f_s', f_s, 'face_pos')
e.register('f_s', f_s, 'face_gone')
